Robot driver with modular splicing function

Abstract

The invention discloses a robot driver with a modular splicing function, and relates to the technical field of robots, the robot driver comprises robot driver main bodies, the two ends of each robot driver main body are connected with a clamping piece and an interface respectively, and the robot driver main bodies are connected in the mode that the clamping pieces are inserted into the interfaces. One end of the clamping piece is fixedly connected with a flange inserted into the connector, the area of the flange is larger than that of the clamping piece, two movable plates arranged at intervals are further arranged in the connector, and one end of each movable plate is hinged to the connector. When the flange is inserted into the interface inlet, the elastic pieces are extruded to deform towards the two sides, the movable plate is pushed to swing towards the inner wall of the interface, after the flange enters the interface, the elastic pieces rebound, the outer walls abut against the flange and the outer wall of the clamping piece, the movable plate approaches the flange, and the two elastic pieces abut against the clamping piece tightly; and the clamping piece is extruded, so that the clamping piece is prevented from falling off.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and specifically to a robot driver with modular splicing function. Background Art

[0002] A robot driver with modular splicing function disassembles the robot drive system into several independent and replaceable functional units. These modules have standardized mechanical interfaces and can be combined as needed like assembling components. By selecting modules with different functional attributes for flexible splicing, a drive system adaptable to diverse task requirements can be quickly constructed.

[0003] In the early stage, the various modules of the robot driver were connected by bolts. Later, due to the slow disassembly and low efficiency, it evolved into the current common mortise and tenon connection and snap connection methods, etc. This type of connection method relies on a clamping block being inserted into a groove to achieve connection, depending on the tightness between the groove and the clamping block. During multiple insertions and extractions, both the inner wall of the groove and the clamping block will wear, and over time, it will affect the tightness between the clamping block and the groove;

[0004] Even in the earliest case of using bolt connection, there will be problems of thread wear, ultimately causing the connection parts of each module to become loose, resulting in the easy detachment of the clamping block. Summary of the Invention

[0005] The purpose of the present invention is to provide a robot driver with modular splicing function to solve the problems raised in the above background art.

[0006] To solve the above technical problems, a robot driver with modular splicing function provided by the present invention includes a robot driver main body. At both ends of each robot driver main body, a clamping member and an interface are respectively connected. The connection between each robot driver main body is completed by inserting the clamping member into the interface. It also includes,

[0007] One end of the clamping member is fixedly connected with a flange inserted into the interface. The area of the flange is larger than that of the clamping member. There are also two movable plates arranged at intervals in the interface. One end of the movable plate is hinged to the interface, and the other end corresponds to the outlet of the interface;

[0008] At the entrance end of the interface, two elastic members are arranged at intervals. The gap between the two elastic members is for the flange to be inserted. The elastic members are elastic, one end is connected to the movable plate, and the other end is connected to the inner bottom wall of the interface, and is used to push the two elastic members to squeeze the movable plate when the flange is inserted into the interface, so that the movable plate swings towards both sides.

[0009] Further, a fixing member is fixedly installed on the inner wall of the interface. The fixing member is semi-circular and covers the periphery of the flange. Semi-circular chutes are provided at both ends of the fixing member. A collar is fixedly installed at the end of the movable plate away from the elastic member. The collar is inserted into the chute and is slidably connected to the chute.

[0010] Further, the connection parts between the clamping members and both sides of the flange form concave angles. The two movable plates are arc-shaped, and the inner arcs of the two movable plates correspond to each other. The end of the movable plate away from the fixing member is fixedly connected to the outer wall of the elastic member. After the elastic member abuts against the outer walls of the flange and the clamping member, the angle between the end of the movable plate away from the fixing member and the connection part of the clamping member and the flange corresponds.

[0011] Further, the arc length of the chute is greater than the arc length of the collar. The chute is located at a position close to the flange, and the collar is located at a position close to the inner wall of the interface. When the movable plate swings to the maximum amplitude, the end of the collar away from the movable plate is still located within the chute.

[0012] Further, a fixing rod is provided between the chute and the collar. The upper and lower ends of the fixing rod are respectively fixedly connected to the inner top wall and the inner bottom wall of the interface. An elastic coil is wound around the outer wall of the fixing rod. The fixed end of the elastic coil is fixedly connected to the outer wall of the fixing rod, and the free end of the elastic coil is fixedly connected to the end of the collar away from the movable plate.

[0013] Further, the outer wall of the fixing member is in close contact with the inner wall of the interface, and a gap is left between the outer wall of the movable plate and the inner wall of the interface for the movable plate to swing away from the flange.

[0014] Further, a rotating shaft is fixedly installed on the inner bottom wall of the interface. A support block is fixedly installed at the end of the elastic member away from the movable plate. The end of the support block away from the elastic member is sleeved on the outer wall of the rotating shaft. A supporting surface is also fixedly installed on the inner wall of the interface on one side of the rotating shaft. A supporting surface is provided on the support block, and the supporting surface abuts against the outer wall of the supporting surface.

[0015] The top end of the fixing rod is rotatably connected to a rotating rod. The top end of the rotating rod is rotatably connected to a knob. A connecting rod is rotatably connected between the bottom end of the knob and the top of the collar. The outer wall of the knob abuts against the outer wall of the flange.

[0016] Further, a partial area of the clamping member close to the flange is located within the entrance end of the interface. There is a gap between the two robot driver bodies. When the flange abuts against the fixing member, the elastic member is bent and simultaneously abuts against the outer walls of the flange and the clamping member.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] 1. In the present invention, when the flange is inserted into the interface inlet, the elastic member is extruded and deformed to both sides, pushing the movable plate to swing towards the inner wall of the interface. After the flange enters the interface, the elastic member rebounds, and the outer wall abuts against the outer wall of the flange and the clamping member. The movable plate approaches the flange, and the two elastic members tightly abut against the clamping member. When pulled out by an external force, the flange squeezes the elastic member, making it more bent and squeezing the clamping member to prevent it from coming out.

[0019] 2. In the present invention, when an external force causes the flange to move towards the interface outlet, the flange squeezes the elastic member to deform it. At the same time, the elastic member squeezes the movable plate, and the elastic member transfers part of the extrusion force to the included angle to prevent the flange from slipping out. The movable plate makes the corresponding area of the elastic member protrude towards the included angle, destroying the smoothness of the outer arc surface of the elastic member to avoid the flange from slipping, and ensuring the limiting effect of the elastic member on the flange.

[0020] 3. In the present invention, when the flange is inserted into the interface, it pushes open the elastic member. At the same time, the elastic member pushes the movable plate to swing, and one end of the collar connected to the elastic coil slides, and the elastic coil is tightened. When the flange abuts against the fixed member, the elastic member and the elastic coil rebound simultaneously. The elastic member abuts against the clamping member and the flange, and the elastic coil rebounds to pull the collar back and expand it outwards. Both its outer wall and the outer wall of the collar abut against the chute, making the connection tighter and enhancing the extrusion force at the contact end of the movable plate and the elastic member, so that the elastic member abuts more tightly against the included angle of the clamping member and the flange. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a schematic external view of the present invention;

[0022] Figure 2 is a schematic sectional view of the present invention;

[0023] Figure 3 is a schematic internal structure view of the interface in the present invention;

[0024] Figure 4 is a schematic connection structure view of the flange and the elastic member in the present invention;

[0025] Figure 5 is a schematic connection structure view of the flange and the interface in the present invention;

[0026] Figure 6 is a schematic connection structure view of the fixed member and the movable plate in the present invention;

[0027] Figure 7 is a schematic connection structure view of the chute and the collar in the present invention;

[0028] Figure 8 is a schematic connection structure view of the fixed rod and the elastic coil in the present invention;

[0029] Figure 9 is a schematic connection structure view of the knob and the connecting rod in the present invention.

[0030] In the figure: 1. Robot driver body;

[0031] 2. Clamping part; 3. Flange; 4. Interface; 5. Fixing part; 6. Knob; 7. Movable plate; 8. Support block; 9. Elastic part; 10. Supporting surface; 11. Rotating shaft; 12. Support surface; 13. Chute; 14. Collar; 15. Fixed rod; 16. Elastic coil; 17. Connecting rod; 18. Rotating rod. Specific implementation manner

[0032] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0033] The present invention provides a technical solution:

[0034] Refer to Figure 1 -

[0035] Figure 9 As shown, a robot driver with modular splicing function includes a robot driver body 1. At both ends of each robot driver body 1, a clamping part 2 and an interface 4 are respectively connected, and the connection between each robot driver body 1 is completed by inserting the clamping part 2 into the interface 4. It also includes,

[0036] One end of the clamping part 2 is fixedly connected with a flange 3 inserted into the interface 4. The area of the flange 3 is larger than that of the clamping part 2. There are also two movable plates 7 arranged at intervals in the interface 4. One end of the movable plate 7 is hinged to the interface 4, and the other end corresponds to the outlet of the interface 4;

[0037] At the entrance end of the interface 4, two elastic parts 9 are arranged at intervals. The gap between the two elastic parts 9 is for the flange 3 to be inserted. The elastic part 9 has elasticity, one end is connected to the movable plate 7, and the other end is connected to the inner bottom wall of the interface 4, and is used to push the two elastic parts 9 to squeeze the movable plate 7 when the flange 3 is inserted into the interface 4, so that the movable plate 7 swings towards both sides.

[0038] As can be seen from Figure 2 One end of the clamping part 2 is fixedly connected to the outer wall of one robot driver body 1, and the other end of the clamping part 2 is inserted into the interface 4 opened on another robot driver body 1. Combining Figure 4From the perspective of the embodiment, the width of the flange 3 is larger than the clamping member 2. When the flange 3 is first inserted into the entrance of the interface 4, the elastic member 9 is squeezed by the flange 3 and deformed toward both sides. At the same time, the end of the elastic member 9 away from the interface 4 pushes the movable plate 7 to swing toward the inner wall of the interface 4.

[0039] Then you can see Figure 5 In the embodiment, after the flange 3 enters the interface 4, the area of ​​the clamping member 2 close to the flange 3 will also be at the entrance of the interface 4. At this time, the elastic member 9 rebounds toward the outer wall of the clamping member 2 by its own elasticity, and finally the outer wall of the elastic member 9 will conflict with the flange 3 and the outer wall of the clamping member 2, and the movable plate 7 will also swing toward the direction of the flange 3. The two elastic members 9 use their own elasticity to press against the clamping member 2, firstly to clamp the clamping member 2, and secondly, if the clamping member 2 and the flange 3 are pulled out by external force, the flange 3 will squeeze the elastic member 9 which is bent at this time;

[0040] And in Figure 5 It can also be seen that the outer arc surface of the curved elastic member 9 is in conflict with the flange 3 and the clip 2, and the inner arc surface faces the inner side wall of the interface 4, so that the flange 3 will squeeze the elastic member 9 when moving toward the outlet, and the upper arc surface of the elastic member 9 will shrink toward the lower arc surface when squeezed, and then the curved surface of the elastic member 9 will be more curved, and the outer arc surface of the elastic member 9 will squeeze the outer wall of the clip 2 after it protrudes more. Therefore, as long as the flange 3 is pulled outward, it will squeeze the elastic member 9 first, and the elastic member 9 will squeeze the clip 2 more when squeezed, so the flange 3 and the clip 2 will not fall out of the interface 4 due to the pulling of external force.

[0041] See also Figure 3 -

[0042] Figure 9 A fixing part 5 is also fixedly installed on the inner wall of the interface 4. The fixing part 5 is semi-arc-shaped and is covered on the periphery of the flange 3. Semicircular slide grooves 13 are provided at both ends of the fixing part 5. A ring 14 is fixedly installed at one end of the movable plate 7 away from the elastic part 9. The ring 14 is inserted into the slide groove 13 and is slidably connected to the slide groove 13.

[0043] Focus on Figure 7 The fixed part 5 is provided with an arc-shaped slide groove 13 at the part close to the movable plate 7, and the entrance of the slide groove 13 corresponds to the outer arc surface of the fixed part 5, and the end of the movable plate 7 corresponding to the fixed part 5 is also fixedly installed with a collar 14. When the movable plate 7 swings, the collar 14 will slide along the inner wall of the slide groove 13 to achieve the swinging effect of the movable plate 7. Figure 6It can be seen that the two movable plates 7 are combined with the fixing member 5 to form a component covering the periphery of the flange 3, which is used to clamp the flange 3, and the elastic member 9 is mainly used to prevent the flange 3 from being easily pulled out by external force. The fixing member 5 and the movable plate 7 covering the periphery of the flange 3 are used to limit the flange 3 and prevent the flange 3 from floating, shaking and displacing in the interface 4.

[0044] See also Figure 4 -

[0045] Figure 6 The connection between the clamping member 2 and the flange 3 on both sides forms an inwardly concave angle, the two movable plates 7 are arc-shaped, the inner arcs of the two movable plates 7 correspond, the end of the movable plate 7 away from the fixing member 5 is fixedly connected to the outer wall of the elastic member 9, and after the elastic member 9 abuts against the flange 3 and the outer wall of the clamping member 2, the end of the movable plate 7 away from the fixing member 5 corresponds to the angle at the connection between the clamping member 2 and the flange 3.

[0046] After the elastic member 9 rebounds and contacts the flange 3 and the clamping member 2, the movable plate 7 swings and moves closer to the flange 3. Figure 6 It can be seen that the end where the movable plate 7 is connected to the elastic member 9 corresponds to the angle between the clamping member 2 and the flange 3. When the flange 3 moves toward the outlet of the interface 4, the elastic member 9 is squeezed and deformed, and at the same time, the movable plate 7 is squeezed by the flange 3 through the elastic member 9. At the same time, the angle of the flange 3 contacts the elastic member 9, and the area where the elastic member 9 contacts the angle is exactly the connection with the movable plate 7. In this way, part of the squeezing force of the elastic member 9 can be transmitted to the angle, so as to prevent the flange 3 from sliding out along the curved surface of the elastic member 9 due to the dragging of the external force.

[0047] By making the contact end of the movable plate 7 and the elastic member 9 protrude toward the angle, the smooth outer arc surface of the elastic member 9 can be damaged, thereby preventing the flange 3 from slipping when contacting the elastic member 9, thereby affecting the limiting effect of the elastic member 9 on the flange 3.

[0048] See also Figure 7 The arc length of the slide groove 13 is greater than the arc length of the ring 14. The slide groove 13 is located near the flange 3, and the ring 14 is located near the inner wall of the interface 4. When the movable plate 7 swings to the maximum amplitude, the end of the ring 14 away from the movable plate 7 is still located in the slide groove 13.

[0049] The arc length of the chute 13 is greater than that of the collar 14. The main purpose is to wrap the collar 14. When the flange 3 just enters the entrance of the interface 4, the flange 3 will push the elastic member 9 open, and the movable plate 7 will also swing to both sides. At this time, the collar 14 will slide deeper into the chute 13. After the flange 3 enters the interface 4, the movable plate 7 will move closer to the flange 3 as the elastic member 9 rebounds. At this time, the collar 14 will slide along the chute 13 towards the entrance of the chute 13. When the movable plate 7 swings to the position where the elastic member 9 is in tight contact with the flange 3 and the engaging member 2, a part of the collar 14 will still be inside the chute 13. That is to say, after the swinging amplitude of the movable plate 7 towards the flange 3 reaches the maximum, the collar 14 will still not slide out of the chute 13, ensuring the continuous connection between the collar 14 and the chute 13.

[0050] Refer to Figure 7 -

[0051] Figure 9 , a fixing rod 15 is arranged between the chute 13 and the collar 14. The upper and lower ends of the fixing rod 15 are respectively fixedly connected to the inner top wall and the inner bottom wall of the interface 4. An elastic coil 16 is wound around the outer wall of the fixing rod 15. The fixed end of the elastic coil 16 is fixedly connected to the outer wall of the fixing rod 15, and the free end of the elastic coil 16 is fixedly connected to the end of the collar 14 away from the movable plate 7.

[0052] When the flange 3 is inserted into the interface 4, the flange 3 pushes the elastic member 9 open. At the same time, the elastic member 9 also pushes the movable plate 7 to swing towards the interface 4. Then, we can focus on Figure 8 , at this time, the end of the collar 14 connected to the elastic coil 16 will slide towards the lower left. At this time, the elastic coil 16 is tightened. When the flange 3 abuts against the fixing member 5, the elastic member 9 and the elastic coil 16 rebound simultaneously. The elastic member 9 abuts against the engaging member 2 and the flange 3. When the wound and tightened elastic coil 16 rebounds, it will pull the collar 14 back to the right. At the same time, the elastic coil 16 expands outwards, filling the inside of the chute 13. The elastic coil 16 will abut against the inner wall of the chute 13. At the same time, the collar 14 is also elastic. When the elastic coil 16 expands outwards, it will also squeeze the collar 14, making the outer wall of the collar 14 abut against the inner wall of the chute 13, and the connection between the collar 14 and the chute 13 is closer;

[0053] Due to the resilience of the elastic coil 16, the extrusion force at the end of the movable plate 7 in contact with the elastic member 9 will be stronger, causing the elastic member 9 to deform and abut more tightly against the included angle between the engaging member 2 and the flange 3, forming a fixing component that holds the flange 3 as a whole.

[0054] Refer to Figure 5 , the outer wall of the fixing member 5 is in close contact with the inner wall of the interface 4, and there is a gap between the outer wall of the movable plate 7 and the inner wall of the interface 4 for the movable plate 7 to swing away from the flange 3.

[0055] In Figure 5It can be seen that when the movable plate 7 approaches the flange 3, there is a gap between the outer ring wall of the movable plate 7 and the inner ring wall of the interface 4. This gap is used for the movable plate 7 to swing towards the inner wall of the interface 4 when the flange 3 is at the entrance of the interface 4. The fixing member 5 is located deep in the interface 4. When the flange 3 abuts against the fixing member 5, the connecting end of the movable plate 7 and the elastic member 9 just corresponds to the included angle of the movable plate 7.

[0056] See Figure 5 -

[0057] Figure 9 , a rotating shaft 11 is fixedly installed on the inner bottom wall of the interface 4. One end of the elastic member 9 away from the movable plate 7 is fixedly installed with a support block 8. One end of the support block 8 away from the elastic member 9 is sleeved on the outer wall of the rotating shaft 11. The inner wall of the interface 4 is also fixedly installed with a supporting surface 10 on one side of the rotating shaft 11. The support block 8 is provided with a supporting surface 12, and the supporting surface 12 abuts against the outer wall of the supporting surface 10;

[0058] The top end of the fixed rod 15 is rotatably connected with a rotating rod 18. The top end of the rotating rod 18 is rotatably connected with a knob 6. A connecting rod 17 is rotatably connected between the bottom end of the knob 6 and the top of the collar 14. The outer wall of the knob 6 abuts against the outer wall of the flange 3.

[0059] Focus on Figure 5 and Figure 9 , first in Figure 5 , when the flange 3 is inside the flange 3, if the flange 3 needs to be taken out, the flange 3 can be tilted to one side. That is to say, move one of the robot driver bodies 1 to offset to one side, so that the clamping member 2 is tilted to one side, and then the flange 3 will rotate. For example, at this time, move the end of the clamping member 2 away from the flange 3 to the right, and then the flange 3 will rotate. At this time, the left side wall of the flange 3 will rub against the left knob 6, causing the knob 6 to rotate clockwise. When the clamping member 2 moves to the right, it will abut against the support block 8 and the elastic member 9 from the outside. Then the end of the support block 8 connected to the rotating shaft 11 will rotate along the outer wall of the rotating shaft 11, causing the support block 8 to swing towards the inside of the interface 4, and the elastic member 9 will also abut against the movable plate 7 at this time, causing the movable plate 7 to swing towards the inner wall of the interface 4;

[0060] Then go back to the knob 6 that rotates to the left. At this time, look at Figure 9 , after the knob 6 rotates, it rotates through the rotating rod 18 at the top end of the fixed rod 15. The clockwise rotating knob 6 will drive the collar 14 to move deeper into the chute 13 through the connecting rod 17, that is, in the direction of the flange 3. The movement of the collar 14 will also pull the elastic coil 16 to contract. At this time, the movable plate 7 will swing towards the inner wall of the interface 4, and pull the elastic member 9 to deform and bend towards the inner wall of the interface 4. At this time, both the movable plate 7 and the elastic member 9 will move away from the flange 3 and the clamping member 2, and the flange 3 can be pulled out;

[0061] It is worth adding that when the clip 2 is tilted to the right, the flange 3 will shift to the left as a whole and contact the knob 6 on the left, but will not contact the knob 6 on the right, because the flange 3 is not rotated around the center point of the flange 3, so the flange 3 will not rotate both knobs 6 at the same time. Of course, when the clip 2 is offset to the left, the flange 3 will also tilt and rotate to the right, but will not contact the knob 6 on the left. Figure 5 It can be clearly seen that there is a gap between the inner ring walls on both sides of the fixing member 5 and the flange 3, which provides space for the flange 3 to tilt.

[0062] See also Figure 5 A partial area of ​​the clamping member 2 close to the flange 3 is located inside the entrance end of the interface 4, and there is a gap between the two robot driver bodies 1. When the flange 3 abuts against the fixing member 5, the elastic member 9 is bent and abuts against the flange 3 and the outer wall of the clamping member 2 at the same time.

[0063] The purpose of the gap between the two robot driver bodies 1 is that after one of the robot driver bodies 1 moves, it can slightly tilt and approach the other robot driver body 1, so that the swing amplitude of the clamping part 2 is larger, and the outer arc surface of the elastic part 9 corresponds to the clamping part 2. In this way, when the flange 3 squeezes the elastic part 9, the outer arc surface of the elastic part 9 bulges and can directly squeeze the clamping part 2.

Claims

1. A robot driver with modular splicing function, comprising a robot driver main body (1), wherein clamping members (2) and interfaces (4) are respectively connected to both ends of each robot driver main body (1), and the connection between each robot driver main body (1) is completed by inserting the clamping member (2) into the interface (4). It is characterized in that, It further includes One end of the clamping member (2) is fixedly connected with a flange (3) inserted into the interface (4). The area of the flange (3) is larger than that of the clamping member (2). There are also two movable plates (7) arranged at intervals in the interface (4). One end of the movable plate (7) is hinged to the interface (4), and the other end corresponds to the outlet of the interface (4). At the entrance end of the interface (4), two elastic members (9) are arranged at intervals. The gap between the two elastic members (9) is for the flange (3) to be inserted. The elastic member (9) has elasticity. One end is connected to the movable plate (7), and the other end is connected to the inner bottom wall of the interface (4). When the flange (3) is inserted into the interface (4), it is used to push the two elastic members (9) to squeeze the movable plate (7) so that the movable plate (7) swings towards both sides.

2. The robotic driver with modular splicing function as described in claim 1, characterized in that: A fixing member (5) is fixedly installed on the inner wall of the interface (4). The fixing member (5) is semi-circular and covers the periphery of the flange (3). Semi-circular sliding grooves (13) are opened at both ends of the fixing member (5). A collar (14) is fixedly installed at the end of the movable plate (7) far from the elastic member (9). The collar (14) is inserted into the sliding groove (13) and is slidably connected with the sliding groove (13).

3. The robotic driver with modular splicing function according to claim 2, wherein: The connection parts on both sides of the clamping member (2) and the flange (3) form an inward concave angle. The two movable plates (7) are arc-shaped. The inner arcs of the two movable plates (7) correspond. The end of the movable plate (7) far from the fixing member (5) is fixedly connected to the outer wall of the elastic member (9). After the elastic member (9) abuts against the outer walls of the flange (3) and the clamping member (2), the angle between the end of the movable plate (7) far from the fixing member (5) corresponds to the angle at the connection part of the clamping member (2) and the flange (3).

4. The robotic driver with modular splicing function according to claim 3, wherein: The arc length of the sliding groove (13) is greater than the arc length of the collar (14). The sliding groove (13) is located at a position close to the flange (3), and the collar (14) is located at a position close to the inner wall of the interface (4). When the movable plate (7) swings to the maximum amplitude, the end of the collar (14) far from the movable plate (7) is still located in the sliding groove (13).

5. The robot driver with modular splicing function according to claim 4, characterized in that: A fixing rod (15) is arranged between the sliding groove (13) and the collar (14). The upper and lower ends of the fixing rod (15) are respectively fixedly connected to the inner top wall and the inner bottom wall of the interface (4). An elastic coil (16) is wound around the outer wall of the fixing rod (15). The fixed end of the elastic coil (16) is fixedly connected to the outer wall of the fixing rod (15), and the free end of the elastic coil (16) is fixedly connected to the end of the collar (14) far from the movable plate (7).

6. The robot driver with modular splicing function according to claim 5, wherein: The outer wall of the fixing member (5) is in close contact with the inner wall of the interface (4). A gap is left between the outer wall of the movable plate (7) and the inner wall of the interface (4) for the movable plate (7) to swing away from the flange (3).

7. The robotic driver with modular splicing function according to claim 6, characterized in that: A rotating shaft (11) is fixedly installed on the inner bottom wall of the interface (4). One end of the elastic member (9) far away from the movable plate (7) is fixedly installed with a support block (8). One end of the support block (8) far away from the elastic member (9) is sleeved on the outer wall of the rotating shaft (11). A supporting surface (10) located on one side of the rotating shaft (11) is also fixedly installed on the inner wall of the interface (4). A supporting surface (12) is formed on the support block (8), and the supporting surface (12) abuts against the outer wall of the supporting surface (10). The top end of the fixed rod (15) is rotatably connected with a rotating rod (18). The top end of the rotating rod (18) is rotatably connected with a knob (6). A connecting rod (17) is rotatably connected between the bottom end of the knob (6) and the top of the collar (14). The outer wall of the knob (6) abuts against the outer wall of the flange (3).

8. The robotic driver with modular splicing function according to claim 7, characterized in that: A partial area of the clamping member (2) close to the flange (3) is located inside the entrance end of the interface (4). There is a gap between the two robot driver bodies (1). When the flange (3) abuts against the fixing member (5), the elastic member (9) is bent and simultaneously abuts against the outer walls of the flange (3) and the clamping member (2).

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